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pick.h: 

- added support for double scalar type (the changes have been validated by Paolo)
- there is still a bug on the PickClosestFace function.
This commit is contained in:
granzuglia 2014-08-09 10:00:09 +00:00
parent 558fcd784a
commit 8cebfaf679
1 changed files with 68 additions and 58 deletions
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126
wrap/gl/pick.h
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@ -31,6 +31,8 @@ namespace vcg{
template <class MESH_TYPE>
class GLPickTri
{
typedef typename MESH_TYPE::ScalarType ScalarType;
typedef typename MESH_TYPE::CoordType CoordType;
typedef typename MESH_TYPE::FaceIterator FaceIterator;
typedef typename MESH_TYPE::VertexIterator VertexIterator;
typedef typename MESH_TYPE::FacePointer FacePointer;
@ -39,17 +41,17 @@ class GLPickTri
private:
static Point3f Proj(const Eigen::Matrix4f &M, const float * viewport, const Point3f &p)
static CoordType Proj(const Eigen::Matrix<ScalarType,4,4> &M, const ScalarType * viewport, const CoordType &p)
{
const float vx=viewport[0];
const float vy=viewport[1];
const float vw2=viewport[2]/2.0f;
const float vh2=viewport[3]/2.0f;
Eigen::Vector4f vp(p[0],p[1],p[2],1.0f);
Eigen::Vector4f vpp = M*vp;
Eigen::Vector4f ndc = vpp/vpp[3];
const ScalarType vx=viewport[0];
const ScalarType vy=viewport[1];
const ScalarType vw2=viewport[2]/ScalarType(2.0);
const ScalarType vh2=viewport[3]/ScalarType(2.0);
Eigen::Matrix<ScalarType,4,1> vp(p[0],p[1],p[2],ScalarType(1.0));
Eigen::Matrix<ScalarType,4,1> vpp = M*vp;
Eigen::Matrix<ScalarType,4,1> ndc = vpp/vpp[3];
Point3f sc(
CoordType sc(
vw2*ndc[0] + vx+vw2,
vh2*ndc[1] + vy+vh2,
ndc[2]
@ -58,16 +60,16 @@ private:
return sc;
}
static void FillProjectedVector(MESH_TYPE &m, std::vector<Point3f> &pVec, const Eigen::Matrix4f &M, const float * viewportF)
static void FillProjectedVector(MESH_TYPE &m, std::vector<CoordType> &pVec, const Eigen::Matrix<ScalarType,4,4> &M, const ScalarType * viewportF)
{
pVec.resize(m.vert.size());
for(size_t i=0;i<m.vert.size();++i) if(!m.vert[i].IsD())
{
pVec[i] = Proj(M, viewportF,Point3f::Construct(m.vert[i].P()));
pVec[i] = Proj(M, viewportF,CoordType::Construct(m.vert[i].P()));
}
}
static void glGetMatrixAndViewport(Eigen::Matrix4f &M, float *viewportF)
static void glGetMatrixAndViewport(Eigen::Matrix<ScalarType,4,4> &M, ScalarType *viewportF)
{
Eigen::Matrix4d mp,mm;
@ -78,16 +80,16 @@ private:
glGetDoublev(GL_PROJECTION_MATRIX, mp.data());
glGetDoublev(GL_MODELVIEW_MATRIX, mm.data());
M = (mp*mm).cast<float>();
M = (mp*mm).cast<ScalarType>();
}
// compute a bbox in Device Coordinate (with the z without the near far normalization and ranged in -1 1)
static Box3f ComputeDCBox(int x, int y, int width, int height)
static Box3<ScalarType> ComputeDCBox(int x, int y, int width, int height)
{
Box3f bb;
Box3<ScalarType> bb;
bb.SetNull();
bb.Add(Point3f(x-width/2.0f,y-height/2.0f,-1.0f));
bb.Add(Point3f(x+width/2.0f,y+height/2.0f, 1.0f));
bb.Add(CoordType(x-width/ScalarType(2.0),y-height/ScalarType(2.0),ScalarType(-1.0)));
bb.Add(CoordType(x+width/ScalarType(2.0),y+height/ScalarType(2.0), ScalarType(1.0)));
return bb;
}
@ -95,17 +97,17 @@ public:
static bool PickClosestFace(int x, int y, MESH_TYPE &m, FacePointer &fp,int width=4, int height=4)
{
Eigen::Matrix4f M;
float viewportF[4];
Eigen::Matrix<ScalarType,4,4> M;
ScalarType viewportF[4];
glGetMatrixAndViewport(M,viewportF);
Box3f reg=ComputeDCBox(x,y,width,height);
Box3<ScalarType> reg=ComputeDCBox(x,y,width,height);
float bzmin = std::numeric_limits<float>::max();
ScalarType bzmin = std::numeric_limits<ScalarType>::max();
fp=0;
for(size_t i=0;i<m.face.size();++i) if(!m.face[i].IsD())
{
Point3f bary = vcg::Barycenter(m.face[i]);
Point3f bz = Proj(M, viewportF,bary);
CoordType bary = vcg::Barycenter(m.face[i]);
CoordType bz = Proj(M, viewportF,bary);
if(bz[2]<bzmin && reg.IsIn(bz))
{
@ -118,17 +120,17 @@ public:
static bool PickClosestVert(int x, int y, MESH_TYPE &m, VertexPointer &vp,int width=4, int height=4)
{
Eigen::Matrix4f M;
float viewportF[4];
Eigen::Matrix<ScalarType,4,4> M;
ScalarType viewportF[4];
glGetMatrixAndViewport(M,viewportF);
float bzmin = std::numeric_limits<float>::max();
ScalarType bzmin = std::numeric_limits<ScalarType>::max();
vp=0;
Box3f reg=ComputeDCBox(x,y,width,height);
Box3<ScalarType> reg=ComputeDCBox(x,y,width,height);
for(size_t i=0;i<m.vert.size();++i) if(!m.vert[i].IsD())
{
Point3f bz = Proj(M, viewportF,m.vert[i].P());
CoordType bz = Proj(M, viewportF,m.vert[i].P());
if(bz[2]<bzmin && reg.IsIn(bz))
{
bzmin=bz[2];
@ -141,15 +143,15 @@ public:
static int PickVert(int x, int y, MESH_TYPE &m, std::vector<VertexPointer> &result, int width=4, int height=4)
{
result.clear();
static Eigen::Matrix4f lastM;
static Eigen::Matrix<ScalarType,4,4> lastM;
static MESH_TYPE *lastm=0;
static std::vector<Point3f> pVec;
static std::vector<CoordType> pVec;
Eigen::Matrix4f M;
float viewportF[4];
Eigen::Matrix<ScalarType,4,4> M;
ScalarType viewportF[4];
glGetMatrixAndViewport(M,viewportF);
Box3f reg =ComputeDCBox(x,y,width,height);
Box3<ScalarType> reg =ComputeDCBox(x,y,width,height);
if(M!=lastM || &m != lastm)
{
@ -168,17 +170,17 @@ public:
static int PickFace(int x, int y, MESH_TYPE &m, std::vector<FacePointer> &result, int width=4, int height=4)
{
static Eigen::Matrix4f lastM;
static Eigen::Matrix<ScalarType,4,4> lastM;
static MESH_TYPE *lastm=0;
static std::vector<Point3f> pVec;
static std::vector<CoordType> pVec;
float viewportF[4];
Eigen::Matrix4f M;
ScalarType viewportF[4];
Eigen::Matrix<ScalarType,4,4> M;
glGetMatrixAndViewport(M,viewportF);
result.clear();
Box3f reg;
reg.Add(Point3f(x-width/2.0f,y-height/2.0f,-1.0f));
reg.Add(Point3f(x+width/2.0f,y+height/2.0f,1.0f));
Box3<ScalarType> reg;
reg.Add(CoordType(x-width/ScalarType(2.0),y-height/ScalarType(2.0),ScalarType(-1.0)));
reg.Add(CoordType(x+width/ScalarType(2.0),y+height/ScalarType(2.0),ScalarType(1.0)));
if(M!=lastM || &m != lastm)
{
@ -189,9 +191,9 @@ public:
for(size_t i=0;i<m.face.size();++i) if(!m.face[i].IsD())
{
const Point3f &p0 = pVec[tri::Index(m,m.face[i].V(0))];
const Point3f &p1 = pVec[tri::Index(m,m.face[i].V(1))];
const Point3f &p2 = pVec[tri::Index(m,m.face[i].V(2))];
const CoordType &p0 = pVec[tri::Index(m,m.face[i].V(0))];
const CoordType &p1 = pVec[tri::Index(m,m.face[i].V(1))];
const CoordType &p2 = pVec[tri::Index(m,m.face[i].V(2))];
if( (p0[2]>-1.0f) && (p1[2]>-1.0f) && (p2[2]>-1.0f) && IntersectionTriangleBox(reg,p0,p1,p2))
result.push_back(&m.face[i]);
}
@ -202,27 +204,30 @@ public:
// Visibility is computed according to the current depth buffer.
static int PickVisibleFace(int x, int y, MESH_TYPE &m, std::vector<FacePointer> &resultZ, int width=4, int height=4)
{
float vp[4];
Eigen::Matrix4f M;
ScalarType vp[4];
Eigen::Matrix<ScalarType,4,4> M;
glGetMatrixAndViewport(M,vp);
int screenW = (int)(vp[2]-vp[0]);
int screenH = (int)(vp[3]-vp[1]);
GLfloat *buffer = new GLfloat[screenW*screenH];
glReadPixels(vp[0],vp[1],vp[2],vp[3],GL_DEPTH_COMPONENT,GL_FLOAT,buffer);
GL_TYPE<Scalarm>::ScalarType *buffer = new GL_TYPE<Scalarm>::ScalarType[screenW*screenH];
//I'm not sure glReadPixels can accept GL_DOUBLE tag
//GLenum err = glGetError();
glReadPixels(vp[0],vp[1],vp[2],vp[3],GL_DEPTH_COMPONENT,GL_TYPE<Scalarm>::SCALAR(),buffer);
//err = glGetError();
std::vector<FacePointer> result;
PickFace(x,y,m,result,width,height);
float LocalEpsilon = 0.001f;
ScalarType LocalEpsilon(0.001);
for(size_t i =0;i<result.size();++i)
{
Point3f p = Proj(M,vp,Point3f::Construct(Barycenter(*(result[i])))) ;
CoordType p = Proj(M,vp,CoordType::Construct(Barycenter(*(result[i])))) ;
if(p[0] >=0 && p[0]<screenW && p[1] >=0 && p[1]<screenH)
{
float bufZ = buffer[int(p[0])+int(p[1])*screenW];
ScalarType bufZ(buffer[int(p[0])+int(p[1])*screenW]);
//qDebug("face %i txyz (%f %f %f) bufz %f",i,tx,ty,tz,bufZ);
if(bufZ + LocalEpsilon >= (p[2]+1.0)/2.0f)
if(bufZ + LocalEpsilon >= ScalarType(p[2]+1.0)/2.0)
resultZ.push_back(result[i]);
}
}
@ -248,20 +253,25 @@ public:
int screenW = vp[2]-vp[0];
int screenH = vp[3]-vp[1];
GLfloat *buffer = new GLfloat[screenW*screenH];
glReadPixels(vp[0],vp[1],vp[2],vp[3],GL_DEPTH_COMPONENT,GL_FLOAT,buffer);
GL_TYPE<Scalarm>::ScalarType *buffer = new GL_TYPE<Scalarm>::ScalarType[screenW*screenH];
//I'm not sure glReadPixels can accept GL_DOUBLE tag
//GLenum err = glGetError();
glReadPixels(vp[0],vp[1],vp[2],vp[3],GL_DEPTH_COMPONENT,GL_TYPE<Scalarm>::SCALAR(),buffer);
//err = glGetError();
std::vector<FacePointer> result;
OldPickFace(x,y,m,result,width,height,sorted);
float LocalEpsilon = 0.001f;
for(size_t i =0;i<result.size();++i)
ScalarType LocalEpsilon(0.001);
for(size_t i =0;i<result.size();++i)
{
typename VertexType::CoordType v=Barycenter(*(result[i]));
CoordType v=Barycenter(*(result[i]));
GLdouble tx,ty,tz;
gluProject(v.X(),v.Y(),v.Z(), mm,mp,vp, &tx,&ty,&tz);
if(tx >=0 && tx<screenW && ty >=0 && ty<screenH)
{
float bufZ = buffer[int(tx)+int(ty)*screenW];
ScalarType bufZ(buffer[int(tx)+int(ty)*screenW]);
//qDebug("face %i txyz (%f %f %f) bufz %f",i,tx,ty,tz,bufZ);
if(bufZ + LocalEpsilon >= tz)
resultZ.push_back(result[i]);